version: 66.06 glider: 523 mission: 4 dive: 169 start: 5 12 113 20 41 47 data: $ID,523 $MISSION,4 $DIVE,169 $D_SURF,3 $D_FLARE,3 $D_TGT,450 $D_ABORT,520 $D_NO_BLEED,200 $D_BOOST,0 $D_FINISH,0 $D_PITCH,0 $D_SAFE,0 $D_CALL,0 $SURFACE_URGENCY,0 $SURFACE_URGENCY_TRY,0 $SURFACE_URGENCY_FORCE,0 $T_DIVE,166 $T_MISSION,180 $T_ABORT,1440 $T_TURN,225 $T_TURN_SAMPINT,5 $T_NO_W,120 $T_LOITER,0 $USE_BATHY,0 $USE_ICE,0 $ICE_FREEZE_MARGIN,0.30000001 $D_OFFGRID,100 $T_WATCHDOG,10 $RELAUNCH,1 $APOGEE_PITCH,-5 $MAX_BUOY,150 $COURSE_BIAS,0 $GLIDE_SLOPE,30 $SPEED_FACTOR,1 $RHO,1.0275 $MASS,51859 $NAV_MODE,1 $FERRY_MAX,45 $KALMAN_USE,2 $HD_A,0.0038360001 $HD_B,0.010078 $HD_C,9.8500004e-06 $HEADING,-1 $ESCAPE_HEADING,0 $ESCAPE_HEADING_DELTA,10 $FIX_MISSING_TIMEOUT,0 $TGT_DEFAULT_LAT,2118.95 $TGT_DEFAULT_LON,-15758 $TGT_AUTO_DEFAULT,0 $SM_CC,300 $N_FILEKB,4 $FILEMGR,0 $CALL_NDIVES,1 $COMM_SEQ,0 $KERMIT,0 $N_NOCOMM,1 $N_NOSURFACE,0 $UPLOAD_DIVES_MAX,1 $CALL_TRIES,5 $CALL_WAIT,60 $CAPUPLOAD,0 $CAPMAXSIZE,100000 $HEAPDBG,0 $T_GPS,15 $N_GPS,20 $T_GPS_ALMANAC,0 $T_GPS_CHARGE,-39224.895 $T_RSLEEP,1 $STROBE,0 $RAFOS_PEAK_OFFSET,1.5 $RAFOS_CORR_THRESH,60 $RAFOS_HIT_WINDOW,3600 $PITCH_MIN,70 $PITCH_MAX,3840 $C_PITCH,2640 $PITCH_DBAND,0.1 $PITCH_CNV,0.003125763 $P_OVSHOOT,0.039999999 $PITCH_GAIN,30 $PITCH_TIMEOUT,16 $PITCH_AD_RATE,175 $PITCH_MAXERRORS,1 $PITCH_ADJ_GAIN,0 $PITCH_ADJ_DBAND,0 $ROLL_MIN,217 $ROLL_MAX,3847 $ROLL_DEG,40 $C_ROLL_DIVE,1960 $C_ROLL_CLIMB,1975 $HEAD_ERRBAND,10 $ROLL_CNV,0.028270001 $ROLL_TIMEOUT,15 $R_PORT_OVSHOOT,30 $R_STBD_OVSHOOT,30 $ROLL_AD_RATE,350 $ROLL_MAXERRORS,1 $ROLL_ADJ_GAIN,0 $ROLL_ADJ_DBAND,0 $VBD_MIN,440 $VBD_MAX,3960 $C_VBD,2800 $VBD_DBAND,2 $VBD_CNV,-0.245296 $VBD_TIMEOUT,720 $PITCH_VBD_SHIFT,0.0012300001 $VBD_PUMP_AD_RATE_SURFACE,4 $VBD_PUMP_AD_RATE_APOGEE,4 $VBD_BLEED_AD_RATE,8 $UNCOM_BLEED,20 $VBD_MAXERRORS,1 $CF8_MAXERRORS,20 $AH0_24V,150 $AH0_10V,100 $MINV_24V,19 $MINV_10V,8 $FG_AHR_10V,0 $FG_AHR_24V,0 $PHONE_SUPPLY,2 $PRESSURE_YINT,-44.423622 $PRESSURE_SLOPE,0.00011597706 $AD7714Ch0Gain,128 $TCM_PITCH_OFFSET,0 $TCM_ROLL_OFFSET,0 $COMPASS_USE,0 $ALTIM_BOTTOM_PING_RANGE,0 $ALTIM_TOP_PING_RANGE,0 $ALTIM_BOTTOM_TURN_MARGIN,0 $ALTIM_TOP_TURN_MARGIN,0 $ALTIM_TOP_MIN_OBSTACLE,1 $ALTIM_PING_DEPTH,80 $ALTIM_PING_DELTA,5 $ALTIM_FREQUENCY,13 $ALTIM_PULSE,3 $ALTIM_SENSITIVITY,4 $XPDR_VALID,2 $XPDR_INHIBIT,90 $INT_PRESSURE_SLOPE,0.0097660003 $INT_PRESSURE_YINT,0.30000001 $DEEPGLIDER,0 $DEEPGLIDERMB,0 $MOTHERBOARD,4 $DEVICE1,2 $DEVICE2,20 $DEVICE3,83 $DEVICE4,-1 $DEVICE5,-1 $DEVICE6,-1 $LOGGERS,0 $LOGGERDEVICE1,-1 $LOGGERDEVICE2,-1 $COMPASS_DEVICE,33 $COMPASS2_DEVICE,-1 $PHONE_DEVICE,48 $GPS_DEVICE,32 $RAFOS_DEVICE,-1 $XPDR_DEVICE,24 $SIM_W,0 $SIM_PITCH,0 $SEABIRD_T_G,0.0042940481 $SEABIRD_T_H,0.00062789384 $SEABIRD_T_I,2.2877364e-05 $SEABIRD_T_J,2.3382993e-06 $SEABIRD_C_G,-10.032345 $SEABIRD_C_H,1.1112347 $SEABIRD_C_I,0.0036120038 $SEABIRD_C_J,-0.00017978948 $GPS1,203528,2107.033,-15754.500,29,1.3,29,9.8 $_CALLS,1 $_XMS_NAKs,2 $_XMS_TOUTs,0 $_SM_DEPTHo,1.42 $_SM_ANGLEo,-72.6 $GPS2,204130,2107.017,-15754.584,15,1.3,15,9.8 $SPEED_LIMITS,0.157,0.252 $TGT_NAME,D_EAST $TGT_LATLONG,2105.814,-15742.918 $TGT_RADIUS,2000.000 $KALMAN_CONTROL,0.000,0.000 $KALMAN_X,0.0,0.0,0.0,0.0,0.0 $KALMAN_Y,0.0,0.0,0.0,0.0,0.0 $MHEAD_RNG_PITCHd_Wd,86.5,20280,-16.7,-9.036 $D_GRID,450 $GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors $STATE,12,end surface,CONTROL_FINISHED_OK $STATE,12,begin dive $GC,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-76.00,0.000,2,0.000,0.000,29,1980,3378,0,0,0,0,0,0 $GC,97,-0.74,-146.0,3.3,-4.9,12,113,9.35,2.30,-0.38,0.000,4,0.227,0.063,2395,549,3397,0,0,0,0,0,0 $GC,182,-0.74,-146.0,25.5,-19.3,27,190,0.00,2.20,0.00,0.000,6,0.000,0.035,2387,1963,3399,0,0,0,0,0,0 $GC,354,-0.74,-146.0,55.5,-17.3,58,361,0.00,2.25,0.00,0.000,4,0.000,0.057,2376,3360,3399,0,0,0,0,0,0 $GC,375,-0.74,-146.0,59.3,-17.5,61,381,0.00,2.22,0.00,0.000,6,0.000,0.047,2376,1969,3399,0,0,0,0,0,0 $GC,710,-0.74,-146.0,111.4,-13.0,103,714,0.00,2.25,0.00,0.000,4,0.000,0.058,2376,546,3400,0,0,0,0,0,0 $GC,773,-0.74,-146.0,120.4,-14.8,108,778,0.12,2.15,0.00,0.000,6,0.175,0.034,2398,1966,3400,0,0,0,0,0,0 $GC,1105,-0.74,-146.0,157.0,-10.3,139,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1967,3401,0,0,0,0,0,0 $GC,1423,-0.74,-146.0,187.9,-10.5,169,1427,0.00,2.25,0.00,0.000,4,0.000,0.051,2398,538,3402,0,0,0,0,0,0 $GC,1615,-0.74,-146.0,209.9,-11.5,183,1619,0.00,2.15,0.00,0.000,6,0.000,0.033,2390,1965,3402,0,0,0,0,0,0 $GC,1947,-0.74,-146.0,242.2,-8.9,199,1951,0.00,2.20,0.00,0.000,4,0.000,0.054,2379,3361,3402,0,0,0,0,0,0 $GC,1986,-0.74,-146.0,246.0,-9.6,201,1991,0.00,2.20,0.00,0.000,6,0.000,0.044,2379,1952,3402,0,0,0,0,0,0 $GC,2314,-0.74,-146.0,273.8,-7.7,217,2318,0.00,2.20,0.00,0.000,4,0.000,0.052,2379,548,3402,0,0,0,0,0,0 $GC,2423,-0.74,-146.0,284.5,-10.5,222,2428,0.12,2.12,0.00,0.000,6,0.170,0.035,2403,1961,3402,0,0,0,0,0,0 $GC,2753,-0.74,-146.0,314.6,-9.0,234,2760,0.00,2.15,0.00,0.000,4,0.000,0.051,2394,3372,3401,0,0,0,0,0,0 $GC,2855,-0.74,-146.0,322.0,-6.6,236,2859,0.00,2.20,0.00,0.000,6,0.000,0.040,2394,1946,3402,0,0,0,0,0,0 $GC,3174,-0.74,-146.0,344.5,-7.5,244,3178,0.00,2.17,0.00,0.000,4,0.000,0.058,2394,553,3400,0,0,0,0,0,0 $GC,3197,-0.74,-146.0,346.5,-8.5,244,3201,0.00,2.15,0.00,0.000,6,0.000,0.038,2385,1963,3400,0,0,0,0,0,0 $GC,3536,-0.74,-146.0,371.9,-7.2,253,3540,0.00,2.28,0.00,0.000,4,0.000,0.060,2384,552,3398,0,0,0,0,0,0 $GC,3614,-0.74,-146.0,377.8,-7.6,254,3619,0.00,2.15,0.00,0.000,6,0.000,0.040,2375,1959,3397,0,0,0,0,0,0 $GC,3948,-0.74,-146.0,396.0,-5.0,263,3952,0.00,2.20,0.00,0.000,4,0.000,0.058,2365,3365,3395,0,0,0,0,0,0 $GC,4150,-0.74,-146.0,409.7,-7.4,267,4156,0.12,2.17,0.00,0.000,6,0.153,0.044,2398,1953,3394,0,0,0,0,0,0 $GC,4498,-0.74,-146.0,435.1,-7.2,276,4501,0.00,2.20,0.00,0.000,4,0.000,0.065,2398,553,3391,0,0,0,0,0,0 $STATE,4709,end dive,TARGET_DEPTH_EXCEEDED $STATE,4709,begin apogee $GC,4718,-0.17,0.0,450.1,6.9,280,4843,0.57,0.00,118.38,0.786,6,0.123,0.000,2580,1982,2799,0,0,0,0,0,0 $STATE,4843,end apogee,CONTROL_FINISHED_OK $STATE,4843,begin climb $GC,4846,0.74,146.0,450.7,0.0,284,4976,0.88,0.00,126.18,0.755,6,0.080,0.000,2876,1982,2204,0,0,0,0,0,0 $GC,5288,0.74,146.0,397.3,13.4,295,5292,0.00,2.33,0.00,0.000,4,0.000,0.063,2886,571,2196,0,0,0,0,0,0 $GC,5348,0.74,146.0,389.7,11.4,296,5353,0.00,2.22,0.00,0.000,6,0.000,0.044,2886,1977,2195,0,0,0,0,0,0 $GC,5691,0.74,146.0,348.4,12.4,305,5695,0.00,2.22,0.00,0.000,4,0.000,0.055,2886,3390,2193,0,0,0,0,0,0 $GC,5752,0.74,146.0,339.9,14.6,306,5756,0.00,2.25,0.00,0.000,6,0.000,0.050,2895,1979,2192,0,0,0,0,0,0 $GC,6081,0.74,146.0,294.2,14.5,315,6085,0.00,2.28,0.00,0.000,4,0.000,0.060,2905,557,2190,0,0,0,0,0,0 $GC,6171,0.74,146.0,281.3,13.5,319,6175,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1979,2190,0,0,0,0,0,0 $GC,6497,0.74,146.0,234.5,14.7,335,6502,0.00,2.28,0.00,0.000,4,0.000,0.064,2914,564,2189,0,0,0,0,0,0 $GC,6531,0.74,146.0,229.7,14.3,336,6537,0.12,2.17,0.00,0.000,6,0.147,0.044,2880,1982,2189,0,0,0,0,0,0 $GC,6850,0.74,146.0,191.2,12.5,355,6854,0.00,2.30,0.00,0.000,4,0.000,0.062,2889,561,2188,0,0,0,0,0,0 $GC,6913,0.74,146.0,183.7,11.2,360,6917,0.00,2.17,0.00,0.000,6,0.000,0.043,2889,1975,2187,0,0,0,0,0,0 $GC,7240,0.74,146.0,147.6,12.0,390,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1975,2187,0,0,0,0,0,0 $GC,7560,0.74,146.0,111.5,9.9,420,7564,0.00,2.20,0.00,0.000,4,0.000,0.053,2889,3387,2186,0,0,0,0,0,0 $GC,7612,0.74,146.0,106.1,10.9,424,7616,0.00,2.22,0.00,0.000,6,0.000,0.044,2895,1964,2186,0,0,0,0,0,0 $GC,7942,0.78,178.3,77.4,7.7,457,7977,0.00,2.33,25.30,0.525,4,0.000,0.052,2895,3389,2072,0,0,0,0,0,0 $GC,8094,0.78,178.3,60.6,11.8,484,8101,0.00,2.25,0.00,0.000,6,0.000,0.042,2904,1975,2071,0,0,0,0,0,0 $GC,8427,0.78,178.3,25.5,10.7,545,8435,0.00,2.25,0.00,0.000,4,0.000,0.056,2913,568,2070,0,0,0,0,0,0 $GC,8500,0.78,178.3,17.7,11.0,558,8508,0.00,2.20,0.00,0.000,6,0.000,0.038,2913,1981,2071,0,0,0,0,0,0 $STATE,8635,end climb,SURFACE_DEPTH_REACHED $STATE,8635,begin surface coast $FINISH,0.5,1.023338 $STATE,8659,end surface coast,CONTROL_FINISHED_OK $STATE,8660,begin surface $SM_CCo,8677,53.78,0.450,0,0,1575,300.24 $SM_GC,1.28,0.00,0.00,53.78,0.000,0.000,0.450,50,1989,1575,-8.09,0.85,300.24 $IRIDIUM_FIX,2059.45,-15746.61,060802,181815 $TT8_MAMPS,0.028379 $HUMID,63.54 $INTERNAL_PRESSURE,9.36285 $TCM_TEMP,23.60 $XPDR_PINGS,2 $24V_AH,24.7,14.024 $10V_AH,10.5,15.386 $FG_AHR_24Vo,0.000 $FG_AHR_10Vo,0.000 $DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2 $DEVICE_SECS,18.500,84.300,269.850,53.775,0.000,30.720,43.146,164.140,19.250,0.000,15.744,1095.579,5185.193,419.103,1933.541,459.775,0.000,1088.165,0.000,1883.600,0.000,127.275,0.000 $DEVICE_MAMPS,227.032,65.195,786.175,450.229,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000 $SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil $SENSOR_SECS,399.529,332.075,1143.625,0.000,0.000,0.000,0.000,0.000 $SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000 $MEM,355580 $DATA_FILE_SIZE,31797,587 $CAP_FILE_SIZE,94014,0 $CFSIZE,260165632,247152640 $ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1 $GPS,120513,230922,2107.009,-15753.444,85,1.0,85,9.8